joint_velocity_controller.h
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00035 
00036 #ifndef EFFORT_CONTROLLERS__JOINT_VELOCITY_CONTROLLER_H
00037 #define EFFORT_CONTROLLERS__JOINT_VELOCITY_CONTROLLER_H
00038 
00062 #include <ros/node_handle.h>
00063 #include <boost/thread/condition.hpp>
00064 #include <boost/scoped_ptr.hpp>
00065 #include <hardware_interface/joint_command_interface.h>
00066 #include <controller_interface/controller.h>
00067 #include <control_msgs/JointControllerState.h>
00068 #include <std_msgs/Float64.h>
00069 #include <control_toolbox/pid.h>
00070 #include <realtime_tools/realtime_publisher.h>
00071 
00072 namespace effort_controllers
00073 {
00074 
00075 class JointVelocityController: public controller_interface::Controller<hardware_interface::EffortJointInterface>
00076 {
00077 public:
00078 
00079   JointVelocityController();
00080   ~JointVelocityController();
00081 
00082   bool init(hardware_interface::EffortJointInterface *robot, const std::string &joint_name, const control_toolbox::Pid &pid);
00083 
00097   bool init(hardware_interface::EffortJointInterface *robot, ros::NodeHandle &n);
00098 
00104   void setCommand(double cmd);
00105 
00109   void getCommand(double & cmd);
00110 
00116   void starting(const ros::Time& time);
00117 
00121   void update(const ros::Time& time, const ros::Duration& period);
00122 
00126   void getGains(double &p, double &i, double &d, double &i_max, double &i_min);
00127 
00131   void printDebug();
00132 
00136   void setGains(const double &p, const double &i, const double &d, const double &i_max, const double &i_min);
00137 
00141   std::string getJointName();
00142   
00143   hardware_interface::JointHandle joint_;
00144   double command_;                                
00146 private:
00147   int loop_count_;
00148   control_toolbox::Pid pid_controller_;           
00150   //friend class JointVelocityControllerNode; // what is this for??
00151 
00152   boost::scoped_ptr<
00153     realtime_tools::RealtimePublisher<
00154       control_msgs::JointControllerState> > controller_state_publisher_ ;
00155 
00156   ros::Subscriber sub_command_;
00157 
00161   void setCommandCB(const std_msgs::Float64ConstPtr& msg);
00162 };
00163 
00164 } // namespace
00165 
00166 #endif


effort_controllers
Author(s): Vijay Pradeep
autogenerated on Sat Aug 13 2016 04:20:42